/* FreeRTOS V9.0.0 - Copyright (C) 2016 Real Time Engineers Ltd. All rights reserved VISIT http://www.FreeRTOS.org TO ENSURE YOU ARE USING THE LATEST VERSION. This file is part of the FreeRTOS distribution. FreeRTOS is free software; you can redistribute it and/or modify it under the terms of the GNU General Public License (version 2) as published by the Free Software Foundation >>>> AND MODIFIED BY <<<< the FreeRTOS exception. *************************************************************************** >>! NOTE: The modification to the GPL is included to allow you to !<< >>! distribute a combined work that includes FreeRTOS without being !<< >>! obliged to provide the source code for proprietary components !<< >>! outside of the FreeRTOS kernel. !<< *************************************************************************** FreeRTOS is distributed in the hope that it will be useful, but WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. Full license text is available on the following link: http://www.freertos.org/a00114.html *************************************************************************** * * * FreeRTOS provides completely free yet professionally developed, * * robust, strictly quality controlled, supported, and cross * * platform software that is more than just the market leader, it * * is the industry's de facto standard. * * * * Help yourself get started quickly while simultaneously helping * * to support the FreeRTOS project by purchasing a FreeRTOS * * tutorial book, reference manual, or both: * * http://www.FreeRTOS.org/Documentation * * * *************************************************************************** http://www.FreeRTOS.org/FAQHelp.html - Having a problem? Start by reading the FAQ page "My application does not run, what could be wrong?". Have you defined configASSERT()? http://www.FreeRTOS.org/support - In return for receiving this top quality embedded software for free we request you assist our global community by participating in the support forum. http://www.FreeRTOS.org/training - Investing in training allows your team to be as productive as possible as early as possible. Now you can receive FreeRTOS training directly from Richard Barry, CEO of Real Time Engineers Ltd, and the world's leading authority on the world's leading RTOS. http://www.FreeRTOS.org/plus - A selection of FreeRTOS ecosystem products, including FreeRTOS+Trace - an indispensable productivity tool, a DOS compatible FAT file system, and our tiny thread aware UDP/IP stack. http://www.FreeRTOS.org/labs - Where new FreeRTOS products go to incubate. Come and try FreeRTOS+TCP, our new open source TCP/IP stack for FreeRTOS. http://www.OpenRTOS.com - Real Time Engineers ltd. license FreeRTOS to High Integrity Systems ltd. to sell under the OpenRTOS brand. Low cost OpenRTOS licenses offer ticketed support, indemnification and commercial middleware. http://www.SafeRTOS.com - High Integrity Systems also provide a safety engineered and independently SIL3 certified version for use in safety and mission critical applications that require provable dependability. 1 tab == 4 spaces! */ #include "../FreeRTOSConfig.h" #define portCONTEXT_SIZE 132 #define portEPC_STACK_LOCATION 124 #define portSTATUS_STACK_LOCATION 128 /******************************************************************/ .macro portSAVE_CONTEXT /* Make room for the context. First save the current status so it can be manipulated, and the cause and EPC registers so their original values are captured. */ mfc0 k0, _CP0_CAUSE addiu sp, sp, -portCONTEXT_SIZE mfc0 k1, _CP0_STATUS /* Also save s6 and s5 so they can be used. Any nesting interrupts should maintain the values of these registers across the ISR. */ sw s6, 44(sp) sw s5, 40(sp) sw k1, portSTATUS_STACK_LOCATION(sp) /* Prepare to enable interrupts above the current priority. */ srl k0, k0, 0xa ins k1, k0, 10, 6 ins k1, zero, 1, 4 /* s5 is used as the frame pointer. */ add s5, zero, sp /* Check the nesting count value. */ la k0, uxInterruptNesting lw s6, (k0) /* If the nesting count is 0 then swap to the the system stack, otherwise the system stack is already being used. */ bne s6, zero, 1f nop /* Swap to the system stack. */ la sp, xISRStackTop lw sp, (sp) /* Increment and save the nesting count. */ 1: addiu s6, s6, 1 sw s6, 0(k0) /* s6 holds the EPC value, this is saved after interrupts are re-enabled. */ mfc0 s6, _CP0_EPC /* Re-enable interrupts. */ mtc0 k1, _CP0_STATUS /* Save the context into the space just created. s6 is saved again here as it now contains the EPC value. No other s registers need be saved. */ sw ra, 120(s5) sw s8, 116(s5) sw t9, 112(s5) sw t8, 108(s5) sw t7, 104(s5) sw t6, 100(s5) sw t5, 96(s5) sw t4, 92(s5) sw t3, 88(s5) sw t2, 84(s5) sw t1, 80(s5) sw t0, 76(s5) sw a3, 72(s5) sw a2, 68(s5) sw a1, 64(s5) sw a0, 60(s5) sw v1, 56(s5) sw v0, 52(s5) sw s6, portEPC_STACK_LOCATION(s5) sw $1, 16(s5) /* s6 is used as a scratch register. */ mfhi s6 sw s6, 12(s5) mflo s6 sw s6, 8(s5) /* Update the task stack pointer value if nesting is zero. */ la s6, uxInterruptNesting lw s6, (s6) addiu s6, s6, -1 bne s6, zero, 1f nop /* Save the stack pointer. */ la s6, uxSavedTaskStackPointer sw s5, (s6) 1: .endm /******************************************************************/ .macro portRESTORE_CONTEXT /* Restore the stack pointer from the TCB. This is only done if the nesting count is 1. */ la s6, uxInterruptNesting lw s6, (s6) addiu s6, s6, -1 bne s6, zero, 1f nop la s6, uxSavedTaskStackPointer lw s5, (s6) /* Restore the context. */ 1: lw s6, 8(s5) mtlo s6 lw s6, 12(s5) mthi s6 lw $1, 16(s5) /* s6 is loaded as it was used as a scratch register and therefore saved as part of the interrupt context. */ lw s6, 44(s5) lw v0, 52(s5) lw v1, 56(s5) lw a0, 60(s5) lw a1, 64(s5) lw a2, 68(s5) lw a3, 72(s5) lw t0, 76(s5) lw t1, 80(s5) lw t2, 84(s5) lw t3, 88(s5) lw t4, 92(s5) lw t5, 96(s5) lw t6, 100(s5) lw t7, 104(s5) lw t8, 108(s5) lw t9, 112(s5) lw s8, 116(s5) lw ra, 120(s5) /* Protect access to the k registers, and others. */ di ehb /* Decrement the nesting count. */ la k0, uxInterruptNesting lw k1, (k0) addiu k1, k1, -1 sw k1, 0(k0) lw k0, portSTATUS_STACK_LOCATION(s5) lw k1, portEPC_STACK_LOCATION(s5) /* Leave the stack in its original state. First load sp from s5, then restore s5 from the stack. */ add sp, zero, s5 lw s5, 40(sp) addiu sp, sp, portCONTEXT_SIZE mtc0 k0, _CP0_STATUS mtc0 k1, _CP0_EPC ehb eret nop .endm